Trio Motion Coordinator Euro 205, Technical Reference Manual

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8-28 Trio BASIC Commands
Motion and Axis Commands
Trio Motion Technology
DATUM
Type:
Command
Syntax:
DATUM(sequence no)
Description: Performs one of 7 datuming sequences to locate an axis to an absolute position. The
creep speed used in the sequences is set using
CREEP
. The programmed speed is set
with the
SPEED
command.
Parameter:
Seq. Description
0
The current measured position is set as demand position (this is espe-
cially useful on stepper axes with position verification).
DATUM(0) also clears the following error exceeded FE_LIMIT condition in
the
AXISSTATUS
register for ALL axes. It sets these bits in
AXISSTATUS
to
zero:
BIT 1 Following Error Warning
BIT 2 Rmote Drive Comms Error
BIT 3 Remote Drive Error
BIT 8 Following Error Limit Exceeded
BIT 11 Cancelling Move
1
The axis moves at creep speed forward till the Z marker is encountered.
The Demand position is then reset to zero and the Measured position cor-
rected so as to maintain the following error.
2
The axis moves at creep speed in reverse till the Z marker is encoun-
tered. The Demand position is then reset to zero and the Measured posi-
tion corrected so as to maintain the following error.
3
The axis moves at the programmed speed forward until the datum switch
is reached. The axis then moves backwards at creep speed until the
datum switch is reset. The Demand position is then reset to zero and the
Measured position corrected so as to maintain the following error.
4
The axis moves at the programmed speed reverse until the datum switch
is reached. The axis then moves at creep speed forward until the datum
switch is reset. The Demand position is then reset to zero and the Meas-
ured position corrected so as to maintain the following error.